Copying audio from a DVD-ROM to a MP3?

Is there a way to copy the audio track from an unprotected DVD-ROM so I can play the track on my MP3 player? I have some home movies and home videos that I burned to DVD, but I just want to have the audio track.

I have Nero 7.5 ultra, though I couldn’t find a utility to do this. searching the internet seems hopeless, as most hits assume I am talking about DVD-Audio format…which I am not.

OK, a follow up question… how about a method of coping the audio from an MPG video file?
These may help get you started.Good luck.